# Core Sensors responses from the EM80 controller

# bumper state
uint8 BUMPERFREE=0
uint8 FRONTBUMER=1
uint8 BACKBUMPER=2

# cliff state
uint8 CLIFFFREE=0
uint8 FRONTCLIFF=1
uint8 BACKCLIFF=2


int32  odometry_x  		# the calculated x coordinate of odometry from the EM80 ECS (unit: mm)
int32  odometry_y  		# the calculated y coordinate of odometry from the EM80 ECS (unit: mm)
int16  odometry_th		# the calculated directional angle of odometry from the EM80 ECS (unit: 0.01deg)
int16  linear_vel       # the linear velocity sensed by onboard IMU (unit: mm/s)
int16  imu_th 			# the directional angle sensed by onboard IMU (unit: 0.01deg)
int16  imu_alpha		# the angular velocity sensed by onboard IMU (unit: 0.02deg/s)
int16  acc_x            # acceleration x
int16  acc_y            # acceleration y
int16  acc_z            # acceleration z 
uint8  bumper			# the bumper state of the EM80
uint8  cliff			# the cliff state of the EM80
uint32 left_encoder		# the accumlated value of the left wheel encoder of EM80
uint32 right_encoder    # the accumlated value of the right wheel encoder of EM80
uint16 ultrasonic_1		# current measured distance from the onboard ultrasonic senor 1
uint16 ultrasonic_2		# current measured distance from the onboard ultrasonic senor 2
uint16 ultrasonic_3		# current measured distance from the onboard ultrasonic senor 3
uint16 ultrasonic_4		# current measured distance from the onboard ultrasonic senor 4
uint16 ultrasonic_5		# current measured distance from the onboard ultrasonic senor 5
uint16 ultrasonic_6		# current measured distance from the onboard ultrasonic senor 6
uint16 ultrasonic_7		# current measured distance from the onboard ultrasonic senor 7
uint16 ultrasonic_8		# current measured distance from the onboard ultrasonic senor 8
